CN202808217U - Renewable energy source recovering device for tire cantilever crane - Google Patents
Renewable energy source recovering device for tire cantilever crane Download PDFInfo
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- CN202808217U CN202808217U CN 201220366518 CN201220366518U CN202808217U CN 202808217 U CN202808217 U CN 202808217U CN 201220366518 CN201220366518 CN 201220366518 CN 201220366518 U CN201220366518 U CN 201220366518U CN 202808217 U CN202808217 U CN 202808217U
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Abstract
The utility model provides a renewable energy source recovering device for a tire cantilever crane, wherein a full bridge type charging/discharging convertor is connected with a super capacitor module, an internal combustion engine generator set, a direct-current motor/electric generator, a DC/DC (direct current) module and a controlling and driving circuit; the renewable energy source recovering device is provided with a segmented analog voltage detecting circuit for detecting the voltage of the super capacitor module and the direct-current motor/electric generator respectively and transmitting to an ARM processor; control input and an upper computer are in monitoring connection with the ARM processor, and an ARM output end is connected with the controlling and driving circuit; and when a heavy object declines, the motor is converted into the electric generator, and the potential energy-converted electric power is stored in the super capacitor module by the charging/discharging convertor, and when the heavy object is lift up, the stored electric power and the internal combustion engine generator set jointly drive the motor to lift up the heavy object, so that the potential energy can be recycled, and the electric power of an idle machine of the internal combustion engine generator set can be stored in the super capacitor module. According to the renewable energy source recovering device, the renewable energy source can be effectively recovered, the waste can be avoided, and the renewable energy source recovering device is environment-friendly, and easy to popularize.
Description
Technical field
The utility model relates to tire arm derrick crane, particularly a kind of accumulator that utilizes super capacitor to form novel energy-saving environment-friendly type tire arm derrick crane of carrying out recovery and the utilization of regenerative resource.
Background technology
Tire arm derrick crane is a kind of widely used runabout crane, and it has long distance travel, flexibly transition, characteristics that manoevreability is good, thereby is used widely.The engine installation of tire arm derrick crane is diesel oil---generator set drives respectively each operating mechanism by speed regulation device.Be characterized in that operation is frequent, continuously with cargo lifting and decline, starting and braking, load characteristic needs very large cranking power, its operating feature also causes energy utilization rate low simultaneously, also comprise many-sided wastes of power such as inertia braking, mechanical potential, idle loss, be mainly manifested in following several respects:
1. weight-lifting equipment must comprise weight decline link in each working cycle.At this moment, potential energy is converted into kinetic energy, and self can produce the regenerated energy of some, and this reproducible energy also is topmost potential capable of recovering energy source in the elevator machinery.
2. lifting and decline link all are attended by the unloaded operation state, so floor time is occupied certain proportion, at this moment, driving engine is in idling mode, and driving engine utilizes insufficient, and it is serious to waste power consumption.
For satisfy starting moment and acceleration phase to the power requirement, its power configuration generally is greater than the required driving power of rated tonnage, operating efficiency is low, power consumption is serious.
4. most times are underload operating conditions of carrying less than rated load, so driving engine is in low power run, energy conversion efficiency is low, causes waste, and is also comparatively serious to the pollution of environment.
Tire arm derrick crane reclaims and utilizes above-mentioned potential capable of recovering energy source.Have good effects of energy saving and emission reduction and huge potential value, have important social effect.
Summary of the invention
Technical problem to be solved in the utility model is: provide a kind of and can reclaim and the device that utilizes above-mentioned potential regenerative resource, this device is used for the design of novel tire arm derrick crane and the energy-saving and emission-reduction transformation of conventional tire arm derrick crane, play the saving energy resource consumption, reduce exhaust emission and pollution and use permanent novel energy-saving environment-friendly type tire arm derrick crane.
The technical scheme that its technical matters that solves the utility model adopts is:
The tire arm derrick crane regenerative resource regenerative apparatus that the utility model provides, a kind of when the lifting weight descends, arm processor is converted to dynamo generator by controlling and driving circuits with DC motor, heavy load potential energy drags dynamo generator work and exports electric energy, by the charge/discharge changer with this electrical power storage in the super capacitor module; And when the lifting weight rises, reclaiming the common lifting heavy of electric energy and Inner combustion generator set, idle electromechanics can be stored in the device in the super capacitor module simultaneously;
This device is provided with full-bridge type charge/discharge changer, it links to each other with super capacitor module, Inner combustion generator set, DC motor/electrical generator, DC/DC module, controlling and driving circuits, be provided with segmentation voltage detecting circuit and aanalogvoltage testing circuit, it detects respectively super capacitor module and DC motor/generator voltage, and send arm processor; The input end of arm processor connects control inputs and ipc monitor, the output termination controlling and driving circuits of arm processor.
The super capacitor module that described super capacitor module is 80F/135V, its monomer ultracapacitor connection in series-parallel by 400F/2.7V forms, and the monomer ultracapacitor has designed an equalizer circuit that is comprised of chip SI2302 and XC61C.
Described charge/discharge converter using full bridge structure has the charge and discharge boost function, promoting the utilization ratio of energy source recovery apparatus, is that the Intelligent Power Module of PM600HSA120 consists of by model.
Described segmentation voltage detecting circuit is comprised of optocoupler and accessory circuit, wherein: the first optocoupler IC1 input end is contacted mutually with stabilivolt D1, D2, D3 and resistance R 4, the mouth of IC1 links to each other with the two-stage phase inverter by resistance, export ARM to by IN_1, determine the lower limit of super capacitor module terminal voltage.The input end of the second optocoupler IC2 is contacted mutually with D4, D5, D6 and R1, and the mouth of optocoupler IC2 send ARM by IN_2 after linking to each other with phase inverter by resistance, determines the upscale protection value of super capacitor module terminal voltage.
Described aanalogvoltage testing circuit is comprised of two optocouplers and accessory circuit, and wherein: the 3rd optocoupler IC3 connects with stabilivolt D7 and resistance R 7, and ADC1_1 is the 3rd optocoupler IC3 mouth, the accurate terminal voltage value of isolation monitoring super electric capacity module; The 4th optocoupler IC4 connects with stabilivolt D8 and resistance R 8, and ADC1_2 is the 4th optocoupler IC4 mouth, the size of isolation monitoring side generator voltage.
Described arm processor is by serial ports and upper machine communication.
The utlity model has following advantage:
1. because the accumulator that utilizes super capacitor to form carries out recovery and the utilization of regenerative resource, greatly reduce waste gas and noise emission that Inner combustion generator set produces, obviously improved the phenomenon of diesel engine over-emitting black exhaust when accelerating, experiment is also calculated energy-conservation being not less than by theory
, reached good effects of energy saving and emission reduction.
2. the recovery system of the regenerative resource of employing motor/generator greatly reduces the power configuration of tire arm derrick crane, and the power configuration of diesel engine unit, electrical motor has reduced
, the common driving of super capacitor module and internal combustion engine generator power system has improved the acceleration capability of hoisting crane.
3. the energy storage load effect of super capacitor, removed hoist in the original system, the energy consumption resistance of the mechanism such as luffing, energy storage that the energy that its heating is slatterned and idle machine state slattern has reduced the particularly frequent acceleration and deceleration of lifting mechanism the impact that hoisting crane is caused of each operating mechanism simultaneously in super capacitor.
4. given full play to the extremely long charge and discharge circulation life of super capacitor, very high power density, very short charging duration, storage life is extremely long and the characteristics of high reliability.
In a word, the utility model has effectively reclaimed regenerative resource, has avoided waste and has been beneficial to environment, has improved the stationarity of hoisting crane and has been easy to and promoted.
Description of drawings
Fig. 1 is the utility model tire arm derrick crane regenerative resource regenerative apparatus overall simplified block diagram.
Fig. 2 is analog/digital voltage detecting circuit schematic diagram among Fig. 1.
Fig. 3 is equalizer circuit schematic diagram among Fig. 1.
Fig. 4 is IPM module principle figure among Fig. 1.
The specific embodiment
The utility model is described in further detail below in conjunction with embodiment and accompanying drawing.
The tire arm derrick crane regenerative resource regenerative apparatus that the utility model provides, its structure as depicted in figs. 1 and 2, comprise Inner combustion generator set, DC motor/dynamo generator, the super capacitor module, the charge/discharge changer, controlling and driving circuits, arm processor, segmentation/aanalogvoltage testing circuit and control inputs part, wherein: charge/discharge changer and super capacitor module, Inner fires generator set, DC motor/dynamo generator and DC/DC module link to each other, the mouth of super capacitor module links to each other with segmentation/aanalogvoltage testing circuit and control controlled and driving circuit, the mouth of DC motor/electrical generator links to each other with the aanalogvoltage testing circuit, the input end of arm processor and segmentation, the aanalogvoltage testing circuit, control inputs and ipc monitor link to each other, and the mouth of arm processor links controlling and driving circuits.
The effect of above-mentioned parts is: control inputs part is delivered to arm processor with the lifting of crane hoisting mechanism and the signal of transferring weight, when weight descends, arm processor is converted to dynamo generator by controlling and driving circuits with DC motor, heavy load potential energy dragged dynamo generator work and exported electric energy this moment, segmentation, aanalogvoltage testing circuit detect respectively the terminal voltage of electrical generator and super capacitor module and deliver to arm processor, by the charge/discharge changer with the electrical power storage of dynamo generator output in the super capacitor module; When weight rose, the electric energy that is stored in the super capacitor module drove the common lifting heavy of DC motor simultaneously by charge/discharge changer and Inner combustion generator set power system; During idle machine state, by the charge/discharge changer idle electromechanics can be stored in the super capacitor module, further improve energy utilization rate.
The super capacitor module that described super capacitor module is 80F/135V, it is comprised of the monomer ultracapacitor connection in series-parallel of 400F/2.7V, because of the rated operational voltage of monomer ultracapacitor very low, so need with a plurality of ultracapacitor connection in series-parallel in groups, it is unbalanced and overcharge and cross and put phenomenon to be prone to voltage this moment, even causes the inefficacy of closed-centre system.The monomer voltage that needs balanced series super capacitor bank, the dynamic electric voltage equalizer circuit that adopts here as shown in Figure 3.The monomer ultracapacitor has designed the equalizer circuit that is comprised of chip SI2302 and XC61C, wherein XC61C is the normal voltage testing circuit, SI2302 is the large current field effect transistor of N raceway groove, XC61C detects the dynamic electric voltage of monomer ultracapacitor, by more adjacent super capacitor voltage, control SI2302 regulates monomer super capacitor charging current, suppresses monomer super capacitor over voltage, thereby realizes the electric voltage equalization of ultracapacitor module.Simultaneously arm processor is by serial ports and upper machine communication, the charge/discharge state of Real Time Monitoring ultracapacitor module.The monomer ultracapacitor of each 400F/2.7V and equalizer circuit thereof adopt the mode of series connection, its positive terminal links to each other with a upper negative pole with the monomer ultracapacitor of equalizer circuit, and its negative pole end links to each other with the positive terminal of the next one with the monomer ultracapacitor of equalizer circuit.In this way 50 ultracapacitor series connection are increased its magnitude of voltage to 135V, but capacitance reduces to 8F, can form the super capacitor module of 80F/135V with 10 groups of parallel connections again.Simultaneously arm processor is by serial ports and upper machine communication, the charge/discharge state of Real Time Monitoring ultracapacitor module.
Described simulation, segmentation voltage detecting circuit as shown in Figure 2, this testing circuit is used for the energy storage state of Real Time Monitoring super capacitor module and the electrical motor generating voltage when being converted to electrical generator.This testing circuit as isolation detection, utilizes the I/V curve of its wide region by optocoupler 4N25, and the AD test side of arm processor is delivered in the output of optocoupler, and it is divided into segmentation detection and analog detection.
Described segmentation voltage detecting circuit is comprised of the first optocoupler IC1 and the second optocoupler IC2 and accessory circuit thereof, and described aanalogvoltage testing circuit is comprised of the 3rd optocoupler IC3 and the 4th optocoupler IC4 and accessory circuit thereof.
The input end of the first optocoupler IC1 is contacted mutually with stabilivolt D1, D2, D3 and resistance R 4, and the mouth of the first optocoupler IC1 links to each other with the two-stage phase inverter by resistance R 4, exports arm processor to by IN_1.The first optocoupler IC1 detects the low pressure stage of super capacitor module, when the magnitude of voltage of super capacitor module is lower than the voltage stabilizing value that stabilivolt D1, D2, D3 and R4 contact mutually, the first not conducting of optocoupler IC1, be output as high level, after the output of two phase inverters, IN_1 output high level is state 1, detects the lower limit that can be defined as super capacitor module terminal voltage by the input of I/O mouth.
The input end of the second optocoupler IC2 is contacted mutually with stabilivolt D4, D5, D6 and R1, and the mouth of the second optocoupler IC2 detects with sending arm processor after phase inverter links to each other by resistance.Optocoupler IC2 detects the high pressure section of super capacitor module; when the magnitude of voltage of super capacitor module is higher than the voltage stabilizing value that stabilivolt D4, D5, D6 and R1 contact mutually; optocoupler IC2 conducting; be output as low level; after phase inverter output; IN_2 is output as state 1, detects the upper limit that can be defined as super capacitor module terminal voltage by the input of I/O mouth, and the upper limit of this terminal voltage can be defined as the protection magnitude of voltage of super capacitor module.I/O mouth input digit amount 0/1 by arm processor detects, and can judge respectively low, the high potential state of section of super capacitor module, and arm processor arranges respectively least significant end magnitude of voltage and the most significant end electric voltage over press protection value of super capacitor module accordingly.
The principle of work of described aanalogvoltage testing circuit is: utilize optocoupler wide region I/V characteristic curve, terminal voltage when detecting respectively super capacitor module and auxiliary direct current motivation and be converted to dynamo generator by optocoupler, detect by AD, the accurate magnitude of voltage of monitoring super electric capacity module and conversion dynamo generator, and as the control parameter of full-bridge type charge/discharge changer.
Described aanalogvoltage testing circuit is comprised of series resistance and the 3rd optocoupler IC3, the 4th optocoupler IC4 referring to Fig. 2.Wherein: the 3rd optocoupler IC3 and stabilivolt D7 and resistance R 7 are composed in series super capacitor module aanalogvoltage testing circuit, ADC1_1 is the analog detection mouth of super capacitor module terminal voltage, by the AD sample detecting, can isolate the accurate terminal voltage value of monitoring super electric capacity module.The 4th optocoupler IC4 and stabilivolt D8 and resistance R 8 are composed in series auxiliary direct current motivation aanalogvoltage testing circuit, ADC1_2 is the detection mouth of generator voltage, the generator voltage of IC4 detection is delivered to the AD test side of arm processor, the size of isolation monitoring side generator voltage reaches the purpose that can monitor the generator voltage size.
The purpose of described segmentation voltage detecting circuit is:
The real-time voltage value of examination and controlling super capacitor and conversion generator is with its control parameter as full-bridge type charge/discharge changer.Prolongation along with charging duration, the pressure reduction of the terminal voltage when helper motor is converted to electrical generator and super capacitor module reduces, at this moment (ARM) treater control full-bridge type charge/discharge changer promotes the voltage of electrical generator, to keep larger charging current, to improve the degree of utilization of generator output end voltage; Equally, when the super capacitor module discharges, detect the super capacitor terminal voltage when low by AD, (ARM) treater control full-bridge type charge/discharge changer boosts super capacitor module terminal voltage, to improve the degree of utilization that reclaims the energy.During idle machine state, can be by the charge/discharge changer during with idle machine state Inner combustion electrical generator do not utilize electrical power storage in the super capacitor module, further reduce energy resource consumption.
Described charge/discharge converter using full bridge structure as shown in Figure 4 has the charge and discharge boost function, and promoting the utilization ratio of energy source recovery apparatus, they are that the Intelligent Power Module of PM600HSA120 consists of by model.When idle machine state, idle electromechanics can be stored in the super capacitor module energy consumption of Inner combustion generator set when having reduced idle machine by the charge/discharge changer.
The utility model adopts intelligent power (IPM), and IPM has the functions such as alarm of supporting large electric current and carrying driving circuit, control circuit, the protection of control line under-voltage, overcurrent protection, short-circuit protection, case temperature overheating protection, chip temperature overheating protection, igbt chip over protection, outside output.It is made of the tube core of high speed low power consume and gate leve driving circuit and the fast protection circuit of optimization, even load accident situation or improper use occur, and also can autoprotection and be not damaged.As shown in the figure, four PM600HSA120 consist of full-bridge type charge/discharge transformation device structures, when weight descends, the electric energy of electrical generator output by full-bridge type charge/discharge changer with electrical power storage in the super capacitor module.In the starting stage to the charging of super capacitor module, super capacitor module terminal voltage is lower, to deliver to the signal of PWM_V be the PWM ripple to (ARM) treater at this moment, remaining input is 0 entirely, prolongation along with charging duration, super capacitor module terminal voltage raises, pressure reduction between electrical generator and the super capacitor module terminal voltage reduces, (ARM) treater judges that terminal voltage between electrical generator and the super capacitor module is little during to a certain degree at this moment, the signal that arm processor is delivered to PWM_V is 1, PWM_U and PWM_Y are 0, PWM_X is the PWM ripple, by control full-bridge type charge/discharge transformation device, promote the output voltage of electrical generator, improve the degree of utilization of auxiliary generator output voltage.Equally, when hoisting heavy, the signal of PWM_U is the PWM ripple, remaining input is 0 entirely, the electric energy that controlling and driving circuits will be stored in the super capacitor module drives auxiliary motor by full-bridge type charge/discharge changer, prolongation along with the hoisting heavy time, the terminal voltage of super capacitor module is little when a certain degree, this moment, arm processor judged that pressure reduction between electrical generator and the super capacitor module is little during to a certain degree, the signal that ARM delivers to PWM_U is 1, PWM_V and PWM_X are that 0, PWM_Y is the PWM ripple, by control full-bridge type charge/discharge changer, promote the voltage of super capacitor module, by control full-bridge type charge/discharge changer, promote the output voltage of super capacitor module, improve the degree of utilization that reclaims the energy.
Described arm processor is by serial ports and upper machine communication (Fig. 2), the mode of operation of Real Time Monitoring regenerative resource recovery system.
The tire arm derrick crane regenerative resource regenerative apparatus that the utility model provides, can be used for the development of energy-saving tyre arm derrick crane, also can be applicable to the reducing energy consumption of conventional tire arm derrick crane, and have energy-conservation research and the transformation of the construction machinery and equipment of similar operating mode.
The tire arm derrick crane regenerative resource regenerative apparatus that the utility model provides, during use, referring to Fig. 1, when weight descends, switch controlling signal when the tire arm derrick crane lifting mechanism is transferred weight is delivered to (ARM) treater, (ARM) treater is converted to dynamo generator by controlling and driving circuits with DC motor, be subjected to the effect of earth gravity field this moment, heavy load potential energy drives the crane hoisting mechanism drawing generator and rotates, potential energy is converted into the output electric energy of electrical generator, the digital-to-analog voltage detecting circuit detects respectively the size of electrical generator and super capacitor module terminal voltage, after delivering to the processing of (ARM) treater, control full-bridge type charge/discharge changer, with the electrical power storage of electrical generator output in the super capacitor module.In the starting stage to the charging of super capacitor module, super capacitor module terminal voltage is lower, prolongation along with charging duration, super capacitor module terminal voltage raises, pressure reduction between electrical generator and the super capacitor module terminal voltage reduces, and (ARM) treater judges that pressure reduction is little during to a certain degree at this moment, by control full-bridge type charge/discharge changer, promote the output voltage of electrical generator, improve the degree of utilization of generator output voltage.When hoisting heavy, the electric energy that controlling and driving circuits will be stored in the super capacitor module fires the common driving motor lifting heavy of electrical generator power system by full-bridge type charge/discharge changer and Inner, realizes the recycling of potential energy.Along with the prolongation of hoisting heavy time, the terminal voltage of super capacitor module is little when a certain degree, by control full-bridge type charge/discharge changer, promotes the output voltage of super capacitor module.
Working process of the present utility model is: when the tire arm derrick crane lifted weight descends, the control signal of its lifting mechanism decline weight is sent to arm processor, at this moment, arm processor passes through controlling and driving circuits, the DC motor of control lifting mechanism is converted into dynamo generator, potential energy drives lifting mechanism and drags the dynamo generator generating, potential energy is converted into electric energy, again by full-bridge type charge/discharge changer with electrical power storage in the super capacitor module; When weight rose, arm processor fired the common driving motor lifting heavy of electrical generator power system by the electric energy that controlling and driving circuits will be stored in the super capacitor module by full-bridge type charge/discharge changer and Inner, realizes the recycling of potential energy.Simultaneously, full-bridge type charge/discharge changer has the charge/discharge boost function, when being in charging and super capacitor module terminal voltage higher state, improves the potential energy organic efficiency by charge boost circuit; When being in the low state of discharge and super capacitor module terminal voltage, improve the degree of utilization of super capacitor module stores electric energy by the discharge booster circuit.In addition, when all being attended by the unloaded operation state, driving engine is in idling mode in lifting and decline link, and driving engine utilizes insufficient, and it is serious to waste power consumption.At this moment idle electromechanics can directly be stored in the super capacitor module, can further reduce energy resource consumption, avoid waste, improve again the stationarity of crane system.
Claims (6)
1. tire arm derrick crane regenerative resource regenerative apparatus, it is characterized in that a kind of when the lifting weight descends, arm processor is converted to dynamo generator by controlling and driving circuits with DC motor, heavy load potential energy drags dynamo generator work and exports electric energy, by the charge/discharge changer with this electrical power storage in the super capacitor module; And when the lifting weight rises, reclaiming the common lifting heavy of electric energy and Inner combustion generator set, idle electromechanics can be stored in the device in the super capacitor module simultaneously;
This device is provided with full-bridge type charge/discharge changer, it links to each other with super capacitor module, Inner combustion generator set, DC motor/electrical generator, DC/DC module, controlling and driving circuits, be provided with segmentation voltage detecting circuit and aanalogvoltage testing circuit, it detects respectively super capacitor module and DC motor/generator voltage, and send arm processor; The input end of arm processor connects control inputs and ipc monitor, the output termination controlling and driving circuits of arm processor.
2. tire arm derrick crane regenerative resource regenerative apparatus according to claim 1, it is characterized in that the super capacitor module that described super capacitor module is 80F/135V, its monomer ultracapacitor connection in series-parallel by 400F/2.7V forms, and the monomer ultracapacitor has designed an equalizer circuit that is comprised of chip SI2302 and XC61C.
3. tire arm derrick crane regenerative resource regenerative apparatus according to claim 1, it is characterized in that described charge/discharge converter using full bridge structure, has the charge and discharge boost function, promoting the utilization ratio of energy source recovery apparatus, be that the Intelligent Power Module of PM600HSA120 consists of by model.
4. tire arm derrick crane regenerative resource regenerative apparatus according to claim 1, it is characterized in that described segmentation voltage detecting circuit is comprised of optocoupler and accessory circuit, wherein: the first optocoupler IC1 input end is contacted mutually with stabilivolt D1, D2, D3 and resistance R 4, the mouth of IC1 links to each other with the two-stage phase inverter by resistance, export ARM to by IN_1, determine the lower limit of super capacitor module terminal voltage; The input end of the second optocoupler IC2 is contacted mutually with D4, D5, D6 and R1, and the mouth of optocoupler IC2 send ARM by IN_2 after linking to each other with phase inverter by resistance, determines the upscale protection value of super capacitor module terminal voltage.
5. tire arm derrick crane regenerative resource regenerative apparatus according to claim 1, it is characterized in that described aanalogvoltage testing circuit is comprised of two optocouplers and accessory circuit, wherein: the 3rd optocoupler IC3 connects with stabilivolt D7 and resistance R 7, ADC1_1 is the 3rd optocoupler IC3 mouth, the accurate terminal voltage value of isolation monitoring super electric capacity module; The 4th optocoupler IC4 connects with stabilivolt D8 and resistance R 8, and ADC1_2 is the 4th optocoupler IC4 mouth, the size of isolation monitoring side generator voltage.
6. tire arm derrick crane regenerative resource regenerative apparatus according to claim 1 is characterized in that described arm processor is by serial ports and upper machine communication.
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| CN 201220366518 CN202808217U (en) | 2012-07-27 | 2012-07-27 | Renewable energy source recovering device for tire cantilever crane |
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| CN 201220366518 CN202808217U (en) | 2012-07-27 | 2012-07-27 | Renewable energy source recovering device for tire cantilever crane |
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| CN202808217U true CN202808217U (en) | 2013-03-20 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112435569A (en) * | 2020-12-08 | 2021-03-02 | 山东海洋工程装备研究院有限公司 | Gravitational potential energy recovery device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112435569A (en) * | 2020-12-08 | 2021-03-02 | 山东海洋工程装备研究院有限公司 | Gravitational potential energy recovery device |
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Granted publication date: 20130320 Termination date: 20150727 |
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